Systems and methods for chain joint cable routing

ABSTRACT

The present disclosure relates to cable routing approaches that allow cables to pass through a traditional chain joint without reducing the strength capacity or impairing the range of motion of the joint. The routing approaches permit the cables to be housed inside the structure of the robotic arm and pass through the chain joint in a manner that does not limit the width of the chain.

COPYRIGHT NOTICE

Contained herein is material that is subject to copyright protection.The copyright owner has no objection to the facsimile reproduction byanyone of the patent document or the patent disclosure, as it appears inthe United States Patent and Trademark Office patent file or records,but otherwise reserves all rights to the copyright whatsoever. Thefollowing notice applies to the software, screenshots and data asdescribed below and in the drawings hereto and All Rights Reserved.

TECHNICAL FIELD

This disclosure relates generally to robotic arm systems. Morespecifically, this disclosure relates to cable routing through roboticarm chain joints.

BACKGROUND

Cable routing is an important aspect of robotics design and operation.Often, cables are routed along the outside of robotic mechanisms whichhas disadvantages such as affecting the outer profile of the roboticsystem and potential for getting caught in objects in the environment,among other things. Internal cable routing has the potentialdisadvantages of increasing the profile of the robotic system,decreasing strength capacity, and increased joint size, among otherthings. Cables need to be routed in such a way as to prevent damage tothe cables via twisting, bending, exposure, getting caught in joints,etc. as well as to avoid limiting the range of motion, strengthcapacity, etc. of the robotic mechanism. Advantages of internally routedcables are that they allow uniform profile and ability to seal therobotic system against liquids and gases, particularly in submersedoperations. Solutions are needed to improve joint cable routing toeliminate risk of damage to the cables, while still maintaining thetotal strength capacity and range of motion of the chain joint. Thepresent disclosure addresses these needs with embodiments comprising oneor more of system sensor monitoring, wireless communication methodswithin the mechanism, and electronic control systems.

So as to reduce the complexity and length of the Detailed Specification,and to fully establish the state of the art in certain areas oftechnology, Applicant(s) herein expressly incorporate(s) by referenceall of the following materials identified in each numbered paragraphbelow. The incorporated materials are not necessarily “prior art” andApplicant(s) expressly reserve(s) the right to swear behind any of theincorporated materials.

Applicant(s) believe(s) that the material incorporated above is“non-essential” in accordance with 37 CFR 1.57, because it is referredto for purposes of indicating the background or illustrating the stateof the art. However, if the Examiner believes that any of theabove-incorporated material constitutes “essential material” within themeaning of 37 CFR 1.57(c)(1)-(3), applicant(s) will amend thespecification to expressly recite the essential material that isincorporated by reference as allowed by the applicable rules.

Aspects and applications of cable routing presented here are describedbelow in the drawings and detailed description. Unless specificallynoted, it is intended that the words and phrases in the specificationand the claims be given their plain, ordinary, and accustomed meaning tothose of ordinary skill in the applicable arts. The inventors are fullyaware that they can be their own lexicographers if desired. Theinventors expressly elect, as their own lexicographers, to use only theplain and ordinary meaning of terms in the specification and claimsunless they clearly state otherwise and then further, expressly setforth the “special” definition of that term and explain how it differsfrom the plain and ordinary meaning. Absent such clear statements ofintent to apply a “special” definition, it is the inventors' intent anddesire that the simple, plain and ordinary meaning to the terms beapplied to the interpretation of the specification and claims.

The inventors are also aware of the normal precepts of English grammar.Thus, if a noun, term, or phrase is intended to be furthercharacterized, specified, or narrowed in some way, then such noun, term,or phrase will expressly include additional adjectives, descriptiveterms, or other modifiers in accordance with the normal precepts ofEnglish grammar. Absent the use of such adjectives, descriptive terms,or modifiers, it is the intent that such nouns, terms, or phrases begiven their plain, and ordinary English meaning to those skilled in theapplicable arts as set forth above.

The use of the words “function,” “means” or “step” in the DetailedDescription or Description of the Drawings or claims is not intended tosomehow indicate a desire to invoke the special provisions of 35 U.S.C.§ 112, ¶6. To the contrary, if the provisions of 35 U.S.C. § 112, ¶6 aresought to be invoked to define the embodiments, the claims willspecifically and expressly state the exact phrases “means for” or “stepfor, and will also recite the word “function” (i.e., will state “meansfor performing the function of . . . ), without also reciting in suchphrases any structure, material or act in support of the function. Thus,even when the claims recite a “means for performing the function of . .. ” or “step for performing the function of . . . ”, if the claims alsorecite any structure, material or acts in support of that means or step,or that perform the recited function, then it is the clear intention ofthe inventors not to invoke the provisions of 35 U.S.C. § 112, ¶6.Moreover, even if the provisions of 35 U.S.C. § 112, ¶6 are invoked todefine the claimed embodiments, it is intended that the embodiments notbe limited only to the specific structure, material or acts that aredescribed in the preferred embodiments, but in addition, include any andall structures, materials or acts that perform the claimed function asdescribed in alternative embodiments or forms, or that are well knownpresent or later-developed, equivalent structures, material or acts forperforming the claimed function.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of cable routing may be derived byreferring to the detailed description when considered in connection withthe following illustrative figures. In the figures, like-referencenumbers refer to like-elements or acts throughout the figures.Embodiments are illustrated in the accompanying drawings, in which:

FIG. 1 depicts an exemplary view of a typical chain joint with angledactuators.

FIG. 2 depicts an exemplary view of a typical chain joint with parallelactuators.

FIG. 3A depicts the chain joint of FIG. 1 being used to control motionof a robotic arm.

FIG. 3B depicts an isometric view of the joint showing the earattachments.

FIG. 4 depicts the variables required to determine cable bend length.

FIG. 5A depicts an isometric view of a first embodiment for the hub.

FIG. 5B depicts and exploded view of the mechanical joint with the hubembodiment of FIG. 5A.

FIG. 6 depicts a top view of the hub embodiment of FIG. 5A.

FIG. 7A depicts a front view of the hub embodiment of FIG. 5A.

FIG. 7B depicts section view 7A-7A of FIG. 7A.

FIG. 8A depicts a side view of the hub embodiment of FIG. 5A.

FIG. 8B depicts section view 8A-8A of FIG. 8A.

FIG. 9A depicts an isometric view of a first embodiment for the hub.

FIG. 9B depicts and exploded view of the mechanical joint with the hubembodiment of FIG. 9A.

FIG. 10 depicts a top view of the hub embodiment of FIG. 9A.

FIG. 11A depicts a front view of the hub embodiment of FIG. 9A.

FIG. 11B depicts section view 11A-11A of FIG. 11A.

FIG. 12A depicts a side view of the hub embodiment of FIG. 9A.

FIG. 12B depicts section view 12A-12A of FIG. 12A.

FIG. 13 is an isometric view of the hub embodiment of FIG. 5A with thelink end attached.

FIG. 14 is an isometric view of the hub embodiment of FIG. 9A with thelink end attached.

FIG. 15 depicts an embodiment comprising open center hydraulicactuators.

FIG. 16 depicts an open center hydraulic schematic for the embodiment ofFIG. 15.

FIG. 17 depicts an embodiment comprising closed center hydraulicactuators.

FIG. 18 depicts the embodiment of FIG. 17 for multiple joints.

FIG. 19 depicts the embodiment of FIG. 17 comprising Bluetoothcommunications.

FIG. 20 depicts an electrical over hydraulic schematic for theembodiment of FIG. 19.

FIG. 21 depicts an embodiment comprising linear actuators.

FIG. 22 depicts a control schematic for the linear actuators of FIG. 21.

FIG. 23 depicts an alternate embodiment of FIGS. 21 and 22 wherein thesensors are wireless.

FIG. 24 is a process diagram depicting the sensor characterizationprocess.

FIG. 25 depicts a process embodiment for preventing a robotic arm fromattempting to move outside of its movement envelope.

FIG. 26 depicts a process embodiment for controlling the robotic arm.

Elements and acts in the figures are illustrated for simplicity and havenot necessarily been rendered according to any particular sequence orembodiment.

DETAILED DESCRIPTION

In the following description, and for the purposes of explanation,numerous specific details, process durations, and/or specific formulavalues are set forth in order to provide a thorough understanding of thevarious aspects of exemplary embodiments. It will be understood,however, by those skilled in the relevant arts, that the apparatus,systems, and methods herein may be practiced without these specificdetails, process durations, and/or specific formula values. It is to beunderstood that other embodiments may be utilized and structural andfunctional changes may be made without departing from the scope of theapparatus, systems, and methods herein. In other instances, knownstructures and devices are shown or discussed more generally in order toavoid obscuring the exemplary embodiments. In many cases, a descriptionof the operation is sufficient to enable one to implement the variousforms, particularly when the operation is to be implemented in software.It should be noted that there are many different and alternativeconfigurations, devices, and technologies to which the disclosedembodiments may be applied. The full scope of the embodiments is notlimited to the examples that are described below.

In the following examples of the illustrated embodiments, references aremade to the accompanying drawings which form a part hereof, and in whichis shown by way of illustration various embodiments. It is to beunderstood that other embodiments may be utilized and structural andfunctional changes may be made without departing from the scope of thedescription.

Mechanical Joints

FIGS. 1 and 2 are exemplary views of an actuating arm 150 comprising amechanical joint with a flexible mechanical drive system. In thedepicted embodiment the flexible mechanical drive system is a chain 120and the mechanical joint is a chain joint 100. The actuating arm 150further comprises a hub 110 and linear actuator(s) 130. The chain joint100 is mounted between the actuating arm 150 and a moving arm 200 (FIG.3). FIG. 1 depicts an embodiment having angled linear actuators 130 andFIG. 2 depicts an embodiment having parallel linear actuators 130.

In the depicted embodiment, the actuating arm 150 includes a chain joint100 and one or more actuators 130. The chain joint 100 includes a hub110, one or more chains 120, and a link end 115 (if two or more chainsare used). The depicted embodiment comprises two chains 120; however,one or more chains 120 are possible. When one chain is used, the hub 110comprises a sprocket, cog, gear, or one or more teeth to engage thechain. When two, or more, chains 120 are used the hub 110 eithercomprises or attaches to a link end 115. The link end 115 connects withone end of each of the chains 120 in the system and provides a pathwayfor the cable to route through the chain joint 100. There are manyadvantages to this design including high torque, slender design,self-tensioning, position holding, simplicity, constant torque, and 180°rotation.

FIGS. 3A and 3B depict the actuating arm 150 of FIG. 1 with a connectedrobotic arm, the moving section 200. The moving section 200 may be asingle arm or several arms including one or more actuating arms. Themoving section 200 is attached to external ears 210 that fit overinternal ears 140. The external ears 210 are fastened to the hub 110.The hub 110 fits into bearings 250 (FIG. 5B) which are mounted in theinternal ears 140. As the actuators 130 are actuated the moving section200 moves within the 180° range shown with respect to the central axis,x, of the actuating arm 150. In some embodiments the actuating arm 150is fixed. In some embodiments the actuating arm 150 is mobile.Regardless of if the actuating arm 150 is fixed or mobile, the movingsection 200 moves in the 180° range shown perpendicular to the centralaxis, x, of the actuating arm 150 for embodiments having two links,belts, or chains of the same length.

Usage of the terms “attached”, “connected”, “fastened”, “joined”, or“coupled” herein shall refer to parts that have been put together insuch a way as to render them fixed to each other unless the term isotherwise modified. For example, “temporarily attached” shall refer tocomponents that couple and uncouple as the system is in motion. Anexample of “temporary attachment” is a sprocket and a chain. The portionof the chain that is attached to the sprocket changes during movementthus making the attachment between the sprocket and a portion of thechain temporary. However, the sprocket is constantly attached to thechain as a whole even if it is only temporarily attached to a particularportion of the chain.

The terms “engage” and “disengage” are intended to apply to componentsthat regularly connect and disconnect i.e. are not fixed to one another.As a general example, a bicycle gear engages a bicycle chain. Differentgears may engage with the chain.

Additionally, the terms “attached”, “connected”, “fastened”, “joined”,or “coupled” shall be construed to include any intervening partsnecessary to facilitate the connection between the components. Forexample, the external ears 210 are connected to the hub 110 using anumber of fasteners. Because the type and amount of fasteners or otherintervening parts necessary is at least partially dependent on thescale, material(s), and intended application of the robotic mechanism,not all of the fasteners or intervening parts are described explicitly.

Actuators

In some embodiments, described in more detail below, the joint 100 maybe actuated by one or more linear actuators 130 comprising mechanical,electro-mechanical, hydraulic, electric over hydraulic, pneumatic,magnetic, piezoelectric, and linear motor actuators. Mechanicalactuators may comprise one or more screws, wheels axles, and camactuators. Electro-mechanical actuators comprise mechanical actuators inwhich the manual controls are replaced with an electric motor andelectronic control mechanism. Other types of actuators are contemplatedincluding underwater linear actuators such as those produced byUltraMotion (ultramotion.com).

In some embodiments, the chain joint 100 may be actuated by one or morehydraulic cylinders. Other embodiments with hydraulic actuators mayinclude one or more hydraulic cylinders. In some embodiments thehydraulic cylinders may be linear. The styles and sizes of the one ormore hydraulic cylinders are dependent on the scale and intended purposeof the system. Any style may be used for the hydraulic cylinders of thechain joint 100 including tie rod style cylinders and welded body stylecylinders, among others.

In some embodiments having more than one actuator, the actuators 130 mayfunction along a path that is not parallel to the central axis of theactuating arm 150, as depicted in FIG. 1. In other embodiments havingmore than one actuator, the actuators 130 may function parallel to thecentral axis of the actuating arm 150, as depicted in FIG. 2.

The Flexible Mechanical Drive System

The flexible mechanical drive system is configured to rotate the hub 110about its central axis (z) resulting in a change of position between theactuating arm 150 and the moving arm 200 from a first position to asecond position. As mentioned above, flexible mechanical drive systemmay comprise one or more chains 120. In other examples actuator(s) 130may connect to hub 110 with cogs, gears, links, or belts. Cogs and gearsmay be machined or cast. Links, belts, and chains may be any material,type, width, and thickness as required for the system scale andapplication. It should be noted that various embodiments may compriseone or more links, belts, or chains of different lengths and widthsdepending on the scale of the robotic system and its intendedapplication.

When one or more sections of links, chains, or belts are employed,different lengths may be used for embodiments requiring the movingsection 200 to move in a range having an acute angle with one edge ofthe actuating arm 150 and an obtuse angle with the opposite edge of theactuating arm 150. As an example, the moving section 200 may have arange between 45° of the top of the actuating arm 150 and 135° from thebottom of the actuating arm 150 rather than the 90° range from bothsides of the actuating arm 150 shown in FIG. 3A.

Chains

The following disclosure will describe an embodiment as depicted in theaccompanying figures. In the depicted embodiments the flexiblemechanical drive system comprises of chain 120 and a link end 115connecting the chain 120 to the hub 110. Chains may be used forapplications requiring high mechanical strength. Leaf chains have hightensile strength. Increasing the width of the chain increases thetensile strength of the chain. The chains 120 in FIGS. 1-3 may be metalleaf chains though other chain types comprising link and roller arecontemplated.

The number of links forming each chain 120 may be dependent on factorssuch as the overall length of the arm, desired mechanical strength, andrange of motion, among other things. The depicted embodiment comprisestwo separate chains 120, each comprising multiple links. In one exampleboth chains 120 are the same length, however other embodiments maycomprise two or more chains 120 of different lengths.

The term link refers to each separate section of chain wherein thesections of chain are the pieces or assembly of pieces that are fixedwith respect to each other. When two links are coupled, each link isfixed with respect to its components and mobile with respect to thecoupled link wherein the motion between the two links occurs at theconnection point. In one example, a link is a rigid, movable piece orrod, connected with other parts by means of pivots or the like, for thepurpose of transmitting motion.

Industrial chains are subject to abrasion wear, and typically requireregular lubrication. Standard chain lubrication practices generallyconsist of applying a heavy oil or grease to the outside of the chain.While this adequately lubricates the sprockets and the outside of thechain, it typically does not protect the contacting surfaces inside thepin and bushing, plate, roller, and/or hook. The majority of chains failfrom the inside. The chains may stretch or kink up due to wear andcorrosion wear inside the pin and bushing area. To lubricate themproperly, the lubricant should be engineered to penetrate and clean theinside of the chain to remove contaminants and displace any trappedwater, and leave behind a heavy film of oil, grease or solid lubricant.Generally, a penetrating-type chain lubricant not only displaces water,but also cleans dirt and metal particles out of the pins of the chainand off of the sprockets.

The operating conditions (including load, environment, temperature andspeed) may also be considered. The lubricant may be applied manually orautomatically. In some embodiments the lubricant may be aimed directlyinto the pin and bushing area. Lubrication is used between the rollersand bushings, but other areas to lubricate are the pin and bushingsurfaces, which articulate with each other while the chain is under fullload. To reach all of these surfaces, the lubricant may be applied tothe upper edges of the link plates on the lower strand of the chainshortly before the chain engages a sprocket. Then, as the chain travelsaround the sprocket, the lubricant is carried by centrifugal force intothe clearances between the pins and the bushings. Spillage over the linkplates supplies lubricant to the interior and the end surfaces of therollers.

In some embodiments, a sufficiently low viscosity lubricant is used toreach the internal surfaces. A carrier solvent or penetrating componenthelps to achieve this without lowering the operating viscosity. In someembodiments, solid lubricants can help maintain the lubricating filmunder the bearing pressure. The lubricant should have the ability tomaintain lubricating qualities under different temperatures, moistures,and environments containing particulate matter.

Potential Applications

Still referring to FIGS. 1-3, in an embodiment, the chain joint 100 maybe used in a robotic arm apparatus. The moving section 200 of therobotic arm may be lowered by retracting a bottom actuator 130, creatingrotation of the hub 110. In some embodiments, the chain joint 100 may bea component of a larger apparatus. Specific applications of the chainjoint 100 may include, but are not limited to, an elbow joint, ashoulder joint, and a wrist joint. In some embodiments the actuating arm150 is fixed and only the moving arm 200 is dynamic. In some embodimentsboth the actuating arm 150 and the moving section 200 are dynamic.

Cable Routing

Cables may run through mechanical drive system. The term “cable” isintended to comprise electrical wiring, hydraulic hoses, pneumatichoses, fiber optic cable, communications cable, or any other cables,wires, or lines as well as bundles thereof. The cables may be used totransfer/transmit data pertaining to sensing and/or control in thesystem or any extensions attached to the system.

There are several design challenges around internal cable routing forrobotic chain joints. One issue is the amount of space available withinthe arm, and more particularly the joint, for the cable to routethrough. One proposed solution to this issue is to route the cablesalongside the chain. In this iteration, the width of the chain eitherhas to be reduced or the overall width/diameter of the robot arm has tobe increased. The total drive power of the joint is proportional to thewidth of the chain therefore reducing the chain width also reduces thedrive power or joint strength. Increasing the overall profile of therobotic arm increases the weight and the amount of material tomanufacture thus increasing the cost of assembly and utilization of therobotic arm.

Cabling

The amount and type of cabling, including coatings and sheathing, usedin the cable joint 100 depends on many factors including type and numberof actuator(s), type and number of sensor(s) and their location,intended use and environment, overall system size (i.e. number of jointsto be controlled), and the location of the specific joint in amulti-joint system, among other things.

Minimum Bend Radius

The minimum cable bend radius may be a significant factor in cablerouting design. If cables and hoses are bent beyond their minimum bendradius the cables may be damaged and/or have a reduced life span. Bendradius refers to the surface of the cable on the inside of the bend, asshown in FIG. 4. Some discussion is provided below regarding typicalminimum bend radius rules and calculations for some of the anticipatedcable types.

Most cables are provided with minimum bend radius data. However, if thedata is unavailable there are tables that can be referenced to determinethe theoretical minimum bend radius depending on a number of factors. Anexemplary generic table for power and control cables is provided below:

Type Min Bending Radius Single or multiple conductor cables - no 8 × theoverall cable diameter metallic shielding Single conductor cable - withmetallic 12 × the overall cable diameter shielding Multiple conductorcables - with 12 × the individual cable individually shielded conductorsdiameter or 7 × the overall cable diameter (whichever is greater) FiberOptic Cables 6 × (<5000 V rating); 8 × (>5000 V rating)

More detailed tables are readily available and should be referenced forspecific applications.

Another aspect of cable bending is the minimum length of cable requiredto make the bend. The general formula to determine bend length is:

$\begin{matrix}{{{\frac{\theta}{360{^\circ}} \cdot 2}\pi\; r} = L} & (1)\end{matrix}$where θ is the desired bend angle in degrees, r is the given bend radiusof the hose, and L is the minimum bend length. If the desired bend angleoccurs in less than the minimum bend length the cable and/or shieldingcan be damaged. The formula most specific to the application is used todetermine minimum bend length. Some formulas may include the diameter ofthe cable, d. When multiple equations are used and one is unsure ofwhich result is most accurate, one may generally use the largest of thecalculated minimum bend lengths.

Additionally, coatings, shielding, and hose materials will affect theminimum cable bend radius and may be taken into account.

Other Cable Design Considerations

Cables are vulnerable at connection points. Typically connectors arerigid and cables are flexible. The interface between a rigid connectorand a flexible cable creates a “stress riser”. A “stress riser” isessentially an edge which concentrates a damaging force on the cable. Insome cases, pulling the cable at a right angle to the axis of theconnector ferrule can even damage the termination or the connectoritself.

One or more cables may be wrapped in one or more bundles. How the one ormore cables are bundled is dependent on the application, number ofcables, cable bend radii, and cable types, among other things. Cablebundles and/or any single wires may be kept separate to prevent themfrom chafing each other. Sharp points and corners may be avoided inareas through which cables are routed to avoid binding, pinching, andbreakage. Regular contact with the cables may be avoided if possible andany contact points may be smooth and rounded to reduce friction andscraping of the cables. Additional design considerations includeavoiding unnecessary bends and routing through tight spaces particularlylong tight spaces. Unnecessary bends increase stress on the cables andlength of cable required. Routing through tight spaces increases thelikelihood of binding, pinching, and jamming.

A standard cable clamp assembly may be securely and quickly attached toprevent sliding and chafing in slots. In an embodiment, two identical,symmetrical half arm clamps which make up the arm clamp assembly matearound the cable and exert a grasping force which can be adjusted to thedesired level. The symmetry and substantially identical form of the halfarm clamps allows for greater interchangeability of parts and assemblywith less regard for the orientation of the half arm clamps. For someembodiments, an asymmetrical half arm clamp arrangement may also bedesirable. Dividers between hoses and other cables may be clamped at alink point. Clamp assemblies and dividers help control the location ofthe stress, and manage where the stress occurs. In some embodiments thecable and clamp configuration will allow for flexing or length change byincluding a simple loop in the cable, with the loop allowing foravailable slack when needed. However, in some embodiments a slack loopis not desirable due to the potential to catch or get hung up onequipment protrusions in the system; in some embodiments the solution isto control where the flexing happens, which may eliminate the need for aslack loop.

Design Details

The general system as shown and described in FIGS. 1, 2, and 3 containscomponents used in the various embodiments disclosed herein. Thedepicted embodiments allow for a full width chain to be used withinternal cable routing without the mechanical disadvantages of existingsystems. The hub 110 is one component affected by internal cablerouting. The hub may comprise one or more cable routing passagesconfigured to allow cable passage through the hub from the actuating armto the moving arm.

In some embodiments at least one of the width or diameter of the hub isless than the width or diameter of the profile of the moving arm. Inthese embodiments, the joints between the arms will have the same orsmaller profile as the arms thus streamlining the overall systemprofile. These embodiments are particularly useful in applicationsrequiring the robotic arm to extend through a small rigid opening orinto a cramped space as well as applications requiring environmentalcontainment.

In some embodiments, the profile of each arm may vary such as eachadditional arm decreasing in size from the previous arm. In someembodiments where the hub joins two arms of different profiles and/orsizes, the hub will have a smaller width or diameter than the arm havingthe smaller or more constrained profile.

The Hub

The hub 110 is the component at the center of the pivot point for thechain joint 100. As the one or more actuators are actuated the chain 120causes the hub 110 and attached moving section 200 to move within arange of 180° along they-axis wherein the 180° range is perpendicular tothe hydraulic side of the joint, as depicted in FIG. 3A.

The relationship between the views of the hub that will be depicted inthe following figures with respect to the joint and motion thereof is asfollows: the top view of the hub is aligned with the central axis of themoving section 200 of the robotic arm; the side view of the hub is takenalong the plane on which the motion of the arm occurs; the front view ofthe hub is the view taken from along the axis of the actuating arm 150when the moving section 200 of the robotic arm is perpendicular.

Embodiment 1

An embodiment of the hub is depicted in FIGS. 5A to 8. FIG. 5A depictsan isometric view of the hub 300. The hub 300 comprises sides 310, topcable guide 320, and bottom cable slot 350. The diameter of sides 310are dependent on the scale of the system and the bearings 250 (FIG. 5B)used between sides 310 and the inner ears 140 (FIG. 2). The diameter ofsides 310 will be the same on both sides in most embodiments. Dependingon the material and assembly methods for the robotic mechanism, one orboth of sides 310 may be separate pieces from the hub 300 and fastened.

FIG. 5B depicts an exploded view of the mechanical joint 100. The sides310 of the hub 300 fit into the bearings 250 which fit into the internalears 140. The external ears 210 fit over the internal ears 140 and arefastened to the hub 300. The link end 315 is fastened to the top of thehub 300. Chain 120 (FIGS. 1-3) is fastened to each side of the link end315. A variety of types and sizes of fasteners and fastener methods maybe used depending on the scale and intended application thereforefasteners and fastening methods have been omitted from the figures.

FIG. 6 depicts a top view of the hub 300 showing the top cable guide 320through which the cable 1000 is routed. In the figure three cables areshown however other numbers of cables 1000 are possible depending on theactuators, sensors, and other factors previously identified.

FIG. 7A depicts a front view of hub 300. FIG. 7B depicts section view7A-7A of FIG. 7A. The cables 1000 are routed down through the top cableguide 320 around through the bottom cable slot 350.

FIG. 8A depicts a side view of hub 300. FIG. 8B depicts section view8A-8A of FIG. 8A. FIGS. 8A and 8B show cable 1000 routing down throughthe top cable guide 320 around through bottom cable slot 350. In thedepicted embodiment of the hub 300, the cables are routed parallel toeach other and remain side by side through the hub 300.

Depending on the scale, application, actuators, and number of cables1000, a larger amount of cable 1000 may be looped into the centralregion 375 of the hub 300 to prevent the cable from bending beyond itsbend radius and from stretching too tightly when the moving section 200(FIG. 3) is at the outermost ranges.

Embodiment 2

Another embodiment of the hub is depicted in FIGS. 9A to 12. FIG. 9depicts an isometric view of a hub 400. The hub 400 comprises sides 410,top cable guide 420 (FIG. 10), and bottom cable slot 450. The diameterof sides 410 is dependent on the scale of the system and the bearingsused between sides 410 and the inner ears 140 (FIG. 2). The diameter ofsides 410 will be the same on both sides in most embodiments. Dependingon the material and assembly methods for the robotic mechanism, one orboth of sides 410 may be separate pieces from the hub 400 and fastened.

FIG. 9B depicts an exploded view of the mechanical joint 100. The sides410 of the hub 400 fit into the bearings 250 which fit into the internalears 140. The external ears 210 fit over the internal ears 140 and arefastened to the hub 400. The link end 415 is fastened to the top of thehub 400. Chain 120 (FIGS. 1-3) is fastened to each side of the link end415. A variety of types and sizes of fasteners and fastener methods maybe used depending on the scale and intended application thereforefasteners and fastening methods have been omitted from the figures. Linkends 315 and 415 are example so link end 115 shown in FIGS. 1, 2, and3A.

FIG. 10 depicts a top view of the hub 400 showing two larger diameterholes 420 through which cable 1000 is routed and three smaller diameterholes for attaching the link end 115 (FIG. 3) to the top of the hub 400.Smaller and larger modifiers with respect to holes indicate the size ofthe holes in relation to each other in the depicted embodiment. Theactual sizes of the holes are dependent on the scale of the system, thefasteners, and the size of the cable bundles.

FIG. 11A depicts a view of the front of the hub 400. FIG. 11B depictssection view 11A-11A of FIG. 11A. The cables 1000 are routed downthrough the top cable guides 420 around through the bottom cable slot450.

FIG. 12A depicts a view of the side of the hub. FIG. 12B depicts sectionview 12A-12A of FIG. 12A. FIGS. 8A and 8B show the cable routing downthrough the top cable guide 420 around through bottom cable slot 450shown in FIGS. 11A and 11B. In the depicted embodiment of the hub 400 inFIGS. 9-12, the cables are routed side by side through the top cableguide 420, turn slightly in the center of the hub 400 and exit thebottom cable slot 450 vertically aligned, one above the other.

Depending on the scale, application, actuators, and number of cables1000, a larger amount of cable 1000 may be looped into the centralregion 445 of the hub 400 to prevent the cable from bending beyond itsbend radius and from stretching too tightly when the moving section 200is at the outermost ranges.

Other Embodiments

Alternatively, the link end and the hub may be a single piece thus notrequiring the fastener holes. In these embodiments multiple cables mayroute through separate holes or a single slot or passage wherein theslot or passage is typically centered in the top of the hub.

FIG. 13 depicts the hub embodiment of FIG. 5 combined with the link end315 to form hub 300A. The depicted hub 300A uses a single slot orpassage 320 in the top to route one or more cables down through.

FIG. 14 depicts the hub embodiment of FIG. 9 combined with the link end415 to form hub 400A. The depicted hub 400A uses two separate holes orpassages 420 through which two separate cable bundles are routed downthrough. Different embodiments may comprise a different amount of holesor passages depending on number of cables and cable types used.

Design Calculations

With respect to the configuration depicted in FIG. 2, wherein thehydraulic actuators 135 (also referred to as cylinders) are positionedparallel to the central axis of the actuating arm 150, combined with thehub 300 design described in embodiment 1, it is useful to consider arange of specific system dimensions to illustrate the practicality,flexibility and utility of the current invention. While the selection ofchain 120 and hydraulic cylinder 135 sources, materials and designdetails, and consequently the tabulated values, may vary significantlydepending on system requirements and design choices. Table 1, depictedand described below, serves to illustrate several aspects of theinvention.

Consider an exemplary leaf chain product reference BL522, availablethrough Jointway International Inc., wherein the chain pitch is ⅝inches, plate height is 0.577 inches, plate thickness is 0.094 inchesand when laced in a 2×2 configuration the tensile strength is claimed tobe 9,000 pounds. In this chain application it is prudent to use a designfactor in the range of 2 to 4. In this exemplary calculation a factor of3 is used reducing the maximum chain operating capacity to 3,000 pounds.Therefore, 4×0.094 inches, or 0.376 inches of chain width will safelyhandle a 3,000-pound load, or alternatively, each inch of chain widthwill safely handle 3000/0.379 pounds, that is a 7,900-pound load.

Consider also an exemplary range of standard hydraulic cylinders such asthe CDT (Cylinder Differential Tie Rod) series offered by the BoschRextroth Corporation. Table 1 below summarizes cylinder characteristicsand units. Cylinder bore diameter (DC), piston rod diameter (DR),maximum operating pressure (MOP), and pounds of pull at a hydraulicpressure of 500 pounds per square inch (psi) (P500), are taken directlyfrom the Rextroth hydraulic cylinder catalog referenced above. Maximumpounds pull (PM), at the maximum operating pressure (MOP) is calculatedby dividing P500 by 500 and multiplying by the maximum operatingpressure (MOP). Chain width (W), is calculated by dividing the poundspull at the maximum operating pressure (PM) by the previously calculated7,900 pound load capacity per inch of chain width (W), and thenadjusting up to the next higher width corresponding to an even number ofchain plates.

TABLE 1 DC DR MOP P500 PM W PCD1 DH1 HID HOD MBR DH2 PCD T (in) (in)(psi) (lbf) (lbf) (in) (in) (in) (in) (in) (in) (in) (in) (lb-ft) 1 0.51500 294 882 0.38 1.5 0.875 .25 .55 2 3.45 4.03 148 1.5 1 1500 493 14790.38 2 1.375 .375 .68 2.5 4.32 4.9 302 2 1 1500 1178 3534 0.56 2.5 1.875.375 .68 2.5 4.32 4.9 721 2.5 1 1500 2063 6189 1.13 3 2.375 .375 .68 2.54.32 4.9 1263 3.25 1 1500 3758 11274 1.50 3.75 3.125 .5 .79 3.5 6.216.79 3188 4 1.37 1000 5540 11080 1.50 4.5 3.875 .5 .79. 3.5 6.21 6.793133 5 1.75 750 8615 12923 1.69 5.5 4.875 .5 .79 3.5 6.21 6.79 3654 61.75 750 12930 19395 2.63 6.5 5.875 .75 1.08 4.75 8.42 9.0 7271 8 2 50023565 23565 3.01 8.5 7.875 .75 1.08 4.75 8.42 9.0 8834

The minimum pitch circle diameter (PCD1) takes account of the cylinderwall thickness and end plate design and is the distance between thecenterlines of the piston rods of the two cylinders 135 when the twoparallel cylinders 135 are in contact with each other. The minimum hub300 diameter (DH1) is the diameter of the cylindrical surface on whichthe chain 120 rolls and is calculated by subtracting the chain link(also referred to as a plate) height from the minimum pitch circlediameter. The hub design of embodiment 1 may ensure throughout the fullrange of motion of the joint, the hydraulic hoses and other hoses,cables and conduits passing through the joint are not forced to bend ata radius less than the hose, cable or conduit manufacturers' specifiedminimum bend radius (MBR).

With regard to the hydraulic hoses, the hydraulic cylinder ports aregenerally sized by the cylinder manufacturer to allow connection toappropriately sized hoses which are typically defined by the hose insidediameter (HID). Hydraulic hose manufacturers, given the hose internaldiameter (HID) and the operating conditions for the particular hoseapplication, typically recommend a particular hose construction andspecification including a hose outside diameter (HOD) and minimum bendradius (MBR). To achieve the desired minimum bend radius requirement,the diameter of the hub of the type disclosed in embodiment 1 of thisspecification (DH2) is calculated as twice the minimum bend radius (MBR)minus the hose outside diameter (HOD). The pitch circle diameter of thechain (PCD2) is obtained by the addition of the chain plate height tothe hub diameter (DH2). Half this dimension (i.e. the radius) ismultiplied by the maximum pounds pull (PM) and divided by 12 to obtainthe maximum torque (T).

Table 2 below includes the same range of hydraulic cylinders as Table 1and includes the pitch circle diameter of the chain (PCD2) derived inTable 1. The piston stroke (S) is the distance each of the pistons inthe hydraulic cylinders 135 must travel to achieve 180° of rotation ofthe hub 300 and is calculated by multiplying half the chain pitch circlediameter (PCD2) by π (pi). To obtain the length of the hydrauliccylinder assemblies 135, a fixed cylinder component dimension (FCL)which accounts for piston length, end cap thicknesses, hydraulic portlocations, mounting clevis dimensions, and any other components whichaffect the length of the assemblies is obtained from the cylindermanufacturer. In this example they are taken directly from the Rextrothhydraulic cylinder catalog referenced above. The length (L) of thecylinder/chain/hub sub-assembly, from the centerline of the cylindermounting clevis pin to the centerline of hub 300, is calculated bysumming the calculated piston stroke (S), the fixed cylinder componentdimension (FCL), half the chain pitch circle diameter (PCD2), and anallowance for the dimension of the couplings between the chains and thepiston rods.

TABLE 2 DC DR (in) PCD2 (in) S (in) FCL (in) L (in) 1 0.5 4.03 6.33 5.0017 1.5 1 4.9 7.70 5.75 20 2 1 4.9 7.70 5.75 20 2.5 1 4.9 7.70 5.88 213.25 1 6.79 10.67 6.88 25 4 1.375 6.79 10.67 7.13 26 5 1.75 6.79 10.677.63 28 6 1.75 9 14.14 8.38 33 8 2 9 14.14 8.63 34

The calculations described above for the leaf chain, hydraulic cylinders135, and other related components selected for this discussion aresufficiently generic to provide a valid generalization. The analysisdemonstrates the scalability of the disclosed chain driven articulatedjoint, the same methodology and resulting scaled outcome may applyregardless of hydraulic cylinder diameter. In general, rather than thehydraulic cylinder diameter, it is the minimum bend radius of thehydraulic hose that may determine the hub diameter which in turn maydetermine the available torque, the arm housing depth, and the pistonstroke and therefore the hydraulic cylinder length and minimum armlength. It should be noted that other cables, cable bundles, hoses orconduits may pass through the articulated joint, in which case thegreatest minimum bend radius may determine the hub diameter and relateddimensions. It should also be noted that the chain width may be lessthan the hydraulic cylinder diameter allowing an asymmetric arm housingwherein the housing width is less than its depth.

Additionally, the calculations described above may be applied to hubembodiment 2 400.

Control

In the following figures simple schematics are overlaid on the actuatingarm 150. The schematics are not intended to portray actual cable routingthrough the actuating arm 150, rather they are intended to portray thecabling necessary for actuator control for a number of embodiments.

Hydraulic Control

For embodiments having hydraulic actuators, the hydraulic fluid mustflow to the actuator and/or motors, then return to a reservoir. Thefluid is then filtered and re-pumped. The path taken by hydraulic fluidis called a hydraulic circuit of which there are several types includingopen center and closed center. Hydraulic circuitry is known in the artand is therefore not shown or described in detail. Simple open centerand closed center circuits are shown and described in the followingembodiments.

FIGS. 15 and 16 depict an embodiment comprising hydraulic actuators 135with open center hydraulic control. In embodiments having more than onejoint, high pressure 1525 and return lines 1530 run through each jointto each valve. The joint closest to the base of the robotic mechanismwill have an additional high pressure and return line, not shown, whichrun to a hydraulic fluid tank which provides hydraulic fluid to theentire robotic mechanism. In embodiments having a single joint, the highpressure 1525 and return lines 1530 connect to a tank 1545 and a pump1550 as shown in FIG. 16.

The open center circuit uses a pump or pumps 1550 which supply acontinuous flow of hydraulic fluid to the control valve 1500. The flowis returned to a tank 1545 through the control valve's 1500 open center;that is, when the control valve 1500 is centered, it provides an openreturn path 1530 to tank 1545 and the fluid is not pumped to a highpressure. Otherwise, if the control valve 1500 is actuated it routesfluid to and from an actuator 135 and tank 1545. The fluid's pressurewill rise to meet any resistance, since the pump 1550 has a constantoutput. If the pressure rises too high, fluid returns to tank 1545through a pressure relief valve 1535. Multiple control valves 1500 maybe stacked in series. This type of circuit can use inexpensive, constantdisplacement pumps 1550. Open center hydraulic control is a simple andviable system for robotic arms having few joints.

When lowering the moving arm 200, hydraulic fluid flows into thecylinders 135 through lines 1510 and 1520 and hydraulic fluid flows outof the cylinders through lines 1505 and 1515. To raise the arm fluidflow is reversed.

FIG. 17 depicts an embodiment comprising hydraulic actuators 135 withelectrical over hydraulic closed center control. Pump(s), tank, andcable connections to a robotic mechanism control system are omitted fromthe figures for clarity. For robotic mechanisms with electric control,the joint closest to the base of the robotic mechanism will have anadditional power line, not shown, which runs back to the roboticmechanism control system. The robotic mechanism control system is theprimary control point for the robotic arm. Referring to FIG. 17, theclosed center circuit supplies full pressure to the control valves 1705,whether any valves 1705 are actuated or not. The pumps vary their flowrate, pumping very little hydraulic fluid until the operator actuates avalve 1705. The valve's 1705 spool therefore doesn't need an open centerreturn path to the tank. Hydraulic fluid travels to and from thecylinders 135 through lines 1505, 1510, 1515, and 1520. A high pressurerelief valve (not shown) allows for hydraulic fluid to flow out of thesystem when the pressure limit is exceeded. Unused fluid travels back tothe tank (not shown) from a return line. Only four cables need to berouted through the joint: the high pressure carry over 1835, the return1845, power 1815, and ground 1825. The hydraulic actuators 135 andvalves 1705 in FIG. 17 are controlled by electronic control system 1750.The electronic control system 1750 may be collocated with the valve1705, on or within the actuating arm 150, or remote to the roboticmechanism.

A robotic mechanism may comprise multiple arms, as depicted in FIG. 18.A first arm 150 may be attached to a platform (not shown) that may bestationary, such as a floor or ground mounted pedestal, or moveable,such as a truck bed. The first arm 150 may comprise two hydrauliccylinders 135, two lengths of leaf chain or equivalent and a rotatinghub to provide a rotating joint 100, as previously described. A secondarm 200, may be attached to the rotating hub of the first arm 150. Thesecond arm 200 may also comprise two hydraulic cylinders 135 a, twolengths of leaf chain or equivalent and a rotating hub to provide arotating joint 100 a. Additional arms may be added in the same fashionin order to achieve a desired degree of articulation. While the hubdescribed in embodiment 1, above, provides a wide path for hoses, cablesor conduits to pass through the rotating joint, without violatingminimum bend radius requirements, it is still desirable to minimize thenumber of hoses, cables or conduits that must run through the system.FIG. 18 shows a single hydraulic high pressure line 1835 which runs fromthe hydraulic pump 1830 through the first arm 150, through the hub thatlinks the first arm 150 and the second arm 200, through the second arm200, through the hub that links the second arm 200 to the next arm, andso on through the additional arms until it reaches the last arm in thesystem. A hydraulic return line 1845 follows a path parallel to that ofthe high pressure line back from the last arm to the hydraulic fluidtank 1840. Two electrical power lines 1815, 1825 are shown originatingat the system logic and control module 4000 and entering the first arm150 to follow a path parallel to that of the high pressure hydraulicline 1835 from the first arm 150 to the last arm in the system.Depending on voltage and power requirements a single multicore cable maybe used. A signal cable 1895, such as a twisted pair to support a CANnetwork or a multi-core cable to support other messaging protocols,follows the same path from the system logic and control module to thelast arm in the system. Each arm in the robotic system contains a localcontrol module 1775 comprising one or more solenoid actuated hydrauliccontrol valves, an electronic control module and a connection to one ormore linear or rotary position sensors, 195. Also within each arm, thehigh pressure hydraulic line 1835 and hydraulic return line 1845 aretapped and connected to the one or more hydraulic control valves inlocal control module 1775, the one or more electrical power cables aretapped and connected to the electronic control module in local controlmodule 1775, and the signal line 1895 is tapped and connected to theelectronic control module in local control module 1775. Thus, regardlessof how many joints are present in the arm, the same number of cableswill be routed through each joint.

FIG. 18 shows the actuating arm 150 of FIG. 17 being used in parallelwith additional attached arms. FIG. 18 further comprises sensors 195,195 a located on, or in proximity to, each joint 100, 100 a,respectively. Each sensor 195 and 195 a sends signals back to a roboticmechanism control system and logic 4000 responsible for controlling themotion of the robotic mechanism. The signals from sensors 195 and 195 apass through each joint 100, 100 a to one or more signal busses (e.g.CAN bus) to the robotic mechanism control system 4000. The signalbusses, not shown, reduce the number of cables passing through eachjoint 100, 100 a. In one example, only one sensor line 1895 passesthrough each joint 100, 100 a even if one or more sensors 195, 195 a arelocated on every joint 100, 100 a in the robotic mechanism.

FIGS. 19 and 20 depict the embodiment of FIG. 17 with Bluetoothcommunications. This embodiment functions similarly to embodiment ofFIG. 17. The control system 3000 comprises controller 1975, Bluetoothcommunications 2000, and high pressure oil control solenoids 1925, 1930,1935, and 1940. In this embodiment, communications are transferredwirelessly via Bluetooth 2000. For this embodiment, only the highpressure carry over 1835, the hydraulic return line 1845, and a powercable 2015 need to be transferred through each joint. In someembodiments a sensor 195 such as a rotary encoder may be used todetermine angle and position of the joint 100. The data from the sensor195 will be sent to the robotic mechanism control system via line 1895.In some embodiments, the data may be sent wirelessly via Bluetooth. Insome embodiments, power may also be transmitted wirelessly.

Linear Actuator Control

FIGS. 21 and 22 depict electrical controller 2200 with linear actuators130. In one example, electrical controller 2200 may be a processor,logic circuitry, or any other type of programmable logic device. Thelinear actuators 130 may be of any type, such as previously noted in the“Actuators” section above. In some embodiments, a position sensor 190may be connected to one or both of the linear actuators 130. Positiveand negative leads 2010, 2020, 2030, and 2040 connect the linearactuators 130 to solenoids 2325, 2330, 2335, and 2340 in the controlsystem 2200. The controller 1975 receives information from the positionsensors 190 through wires 2075 and 2085. In this embodiment,communications are transferred wirelessly via Bluetooth transceiver 2000to the robotic mechanism control system thus this embodiment requiresonly power 2015 to pass through any of the joints in the system. Theaddition of one or more sensors may require one or more additional wiresto pass through each joint. One or more busses (e.g. CAN bus) may beused to reduce the number of wires required to pass through each arm. Insome embodiments, power and or sensor signals may be transmittedwirelessly.

FIG. 23 depicts an alternate embodiment of FIGS. 21 and 22 wherein theposition sensors 190 transmit data wirelessly using Bluetoothtransceivers or near field communication (NFC) rather than via wires,thus reducing total system cabling. The Bluetooth transceiver(s) may belocated anywhere on or within the actuating arm 150 such as on or in atleast one of the actuators 130 on the outside of the actuating arm 150,and on the hub 110.

Processor

One or more embodiments may comprise a processor for controlling themotion of the robotic arms as well as for gathering and analyzing sensordata. The processor may be located on or near at least one of the linearactuators 130, within the actuating arm 150, remote to the system, or inthe robotic mechanism control system. The processor may be configured toreceive sensor data from linear actuator sensors 190, determine thefirst position of the moving arm 200 with respect to the actuating arm150, generate a moving arm control signal to actuate the linearactuators connected to the flexible mechanical drive system to rotatethe hub resulting in the change of position between the actuating armand the moving arm from the first position to the second position, andreceive sensor data from the linear actuator sensors to verify themoving arm is in the second position. Data transfer between theprocessor and other system components may be one of wired or wireless.

In some embodiments the processor may have a memory. Further, otherembodiments may store knowledge of one or more 3D working spacesobtained from sensor readings, 3D imaging, cameras, theoretical models,etc. The system may use that knowledge to intelligently control therobotic mechanism within the 3D workspace, including around obstacles.For instance, rather than an operator having to input individualcommands to each joint for complex motions, an operator could input asimple command to, for example, pick up the object behind the wall, andthe robotic mechanism will know how to actuate each of its joints toperform the action without coming in contact with obstacles.

Sensors

One or more sensors may be incorporated at one or more locations in therobotic mechanism including on or about the one or more linearactuators, the hub, and within the actuating arm 150. The purpose of theone or more sensors may be at least one of monitoring the roboticmechanism and monitoring the environment. Sensors may be at least one ofcontact and non-contact. Sensors that monitor the robotic mechanism maybe used to determine and/or track the precise location of the endeffector, linear actuator actuation distance, linear actuator position,speed of motion, acceleration, and torque, among other things. Sensorsthat monitor the environment may be used to determine radiation levels,air quality, temperature, and heat signatures, among other things.Sensors may be one or more of inductive and capacitive. Sensors may bewired or wireless. Additionally, one or more lights and/or cameras maybe included. Lights and/or cameras may aid in the remote control of therobotic mechanism by allowing the operator to view a location that isotherwise inaccessible.

The robotic arm system may include a feedback module in order to preventdamage or failure of the robotic arm. Some embodiments of the roboticarm system may include one or more of force sensors, pressure sensors,position sensors, torque sensors, voltage sensors, current sensors, andother various sensors linked to the control system. The feedback modulemay allow implementation of arm protection algorithms that utilizesensor data to determine the current orientation of the robotic armsystem and determine the anticipated electrical and or mechanical loadson each joint. Sensor errors may be taken into account and maximumallowable loads that can be calculated. If the sensor readings exceedthe maximum allowable, the robotic arm system may be disabled to preventit from being damaged, stressed, or failing.

When multiple sensors are used, the data from the sensors may becombined in a sensor fusion process. Sensor fusion may use a Kalmanfilter similar to those used for guidance, navigation, and controllingobjects and time series analysis in signal processing, robotic motionplanning and control, and trajectory optimization. The algorithm worksin a two-step process. In the prediction step, the Kalman filterproduces estimates of the current state variables, along with theiruncertainties. Once the outcome of the next measurement, including theapplication of some amount of error including random noise, is observed,these estimates are updated using a weighted average, with more weightbeing given to estimates with higher certainty. The algorithm isrecursive. It can run in real time, using only the present inputmeasurements and the previously calculated state and its uncertaintymatrix; no additional past information is required.

Sensor Characterization

FIG. 24 is a process diagram depicting a sensor characterizationprocess. Typically, at least once prior to utilization of a robotic armcomprising one or more joints the sensors may be characterized. Thisprocess is helpful in calibrating the sensors and determining the fullextents of the robotic system. Typically a six degree of freedom (6DOF)sensor will be placed at the end effector on the robotic arm. The originmay be set at any location on the robotic arm but is typically locatedat the end effector.

The sensor characterization process begins at operation 2400. Next, thearm is fully extended where the central axis of every arm is collinearin operation 2405. The 6DOF sensor is initialized in operation 2410.Next, the arm is moved through a series of motions describing the fullextent of its reach in operation 2415. Throughout the movement the 3Dposition is recorded in operation 2420 along with all of the sensor datain operation 2425. The 3D position data is then translated to 3D uniformCartesian coordinates in operation 2430. The position data is thenrelated to the sensor data in operation 2435.

Control Processes

In the following processes, the term “arm” refers to any robotic armhaving one or more joints. The processes may be directed and initiatedby an operator and/or performed automatically by the control system. Thecontrol system may comprise one or more processors located at least oneof within the robotic mechanism, on the robotic mechanism, and remote tothe robotic mechanism.

FIG. 25 depicts a first process embodiment for preventing a robotic armfrom attempting to move outside of its movement envelope. First, anoperator generates a command to move the arm in operation 2500 and thecommand is sent to the actuator(s) 2510. Next, the processor willdetermine the current coordinate of the working end of the arm (or endeffector, in some embodiments) 2515 and the current angle of the joint2520. Coordinate bounds for the robotic system are stored in database2575. If new coordinates are not in bounds 2525 the operator maygenerate a new command 2500. In some embodiments, an error message maybe displayed to the operator 2530. If the coordinates are in bounds 2525the command will be stored 2535. The command will then be transferred tosend 2550. In embodiments having a display, the new angle will bedisplayed 2555. The movement is then complete and the system awaits anew command.

FIG. 26 details a process embodiment for keeping the arm movement withinits movement envelope. First, an operator sends a command to move thearm 2600. A state estimator 2610 is used to obtain sensor data 2605 andselect arm model 2625 to generate a state estimate 2615. The arm initialposition, P₀, is then measured at time T₀ 2620 to provide a basis forcomparison. The operator command input is then used to estimate a newstate position at position P₁ and time T₁ 2630 and the arm is actuatedto the new state position 2640. The new position P₁ is observed 2650 andcompared to the estimated value 2660. If the arm is at the desiredposition 2675, the system will await the next command 2690. If thesystem is not at the desired position, a correction to the state modelis determined 2670 based on the comparison and the model will becorrected 2680 and input into the state estimator 2610 and will repeatthe process to move the arm into position.

Other Design Aspects

Prospective Materials

The materials used in the manufacture of the robotic mechanism aredependent on the particular application for which the robotic mechanismis designed.

In an embodiment, the robotic apparatus may be designed to enter highlyradioactive areas. In this embodiment, the frame of the roboticapparatus may be manufactured out of a radiation tolerant material suchas carbon fiber. The use of carbon fiber for the frame has additionaladvantages such as reduced weight and material costs and, as such, maybe used in applications other than radiation tolerant embodiments.

In some embodiments the robotic mechanism may be sealed so as to bewatertight for applications in which the robotic arm is required tooperate while partially or wholly submerged. In such an embodiment theaverage depth to which the robotic mechanism may be submerged and theliquid it is submerged in will need to be taken into consideration. Ifthe robotic apparatus is to be submerged at greater than one atmosphereof pressure, pressure vessel calculations will need to be used in orderto determine the appropriate material for manufacture. In oneembodiment, the body of the robotic mechanism is constructed from hollowaluminum tools to increase buoyancy.

EXAMPLES

Some non-limiting examples are provided below.

Example 1 may include a mechanical joint mounted between an actuatingarm and a moving arm, comprising: a hub having one or more cable routingpassages configured to allow cable passage through the hub from theactuating arm to the moving arm; at least two linear actuators connectedto a flexible mechanical drive system wherein the flexible mechanicaldrive system is configured to rotate the hub about its central axisresulting in a change of position between the actuating arm and themoving arm from a first position to a second position; linear actuatorsensors located at least one of on or proximate to the linear actuatorsconfigured to determine positions of the linear actuators.

Example 2 may include the system of example 1, further comprising aprocessor configured to: receive sensor data from the linear actuatorsensors, determine the first position of the moving arm with respect tothe actuating arm, generate a moving arm control signal to actuate thelinear actuators connected to the flexible mechanical drive system torotate the hub resulting in the change of position between the actuatingarm and the moving arm from the first position to the second position,receive sensor data from the linear actuator sensors to verify themoving arm is in the second position.

Example 3 may include example 2, wherein the processor is located atleast one of within the actuating arm, proximate to the actuating arm,and remote to the actuating arm.

Example 4 may include example 1, wherein the hub profile dimensions areless than the largest dimensional profile measurement of the moving arm.

Example 5 may include example 1, wherein the linear actuator sensors arelocated at least one of on and proximate to the hub.

Example 6 may include example 5, wherein the linear actuator sensorscomprise a rotary encoder.

Example 7 may include example 1, wherein one or more cables are passedthrough the hub.

Example 8 may include example 1, wherein the cable is at least one ofpower, hydraulic, pneumatic, and communications.

Example 9 may include example 1, wherein the at least two linearactuators are at least one of hydraulic, electric over hydraulic,pneumatic, mechanical, electro-mechanical, piezoelectric, electric, andlinear motor actuators.

Example 10 may include example 1, wherein one or more linear actuatorsensors comprise one or more of distance and position.

Example 11 may include example 1, wherein the flexible mechanical drivesystem comprises at least one of cogs, links, chains, and belts.

Example 12 may include example 11, wherein the cogs are at least one ofmachined and cast.

Example 13 may include example 11, wherein the chain may be leaf, link,or roller.

Example 14 may include example 1, wherein the moving arm has a range ofmotion of 180° perpendicular to a central axis of the actuating arm.

Example 15 may include example 1, wherein data transfer is wired orwireless.

Example 16 may include a method for operation and control of amechanical joint having a hub, moving arm, an actuating arm, and atleast two linear actuators, comprising: configuring a processor to:receive sensor data from linear actuator sensors located at least one ofon and proximate to the linear actuators, determine a first position ofthe moving arm in relation to the actuating arm, generate a moving armcontrol signal to actuate the linear actuators, wherein the linearactuators are connected to a flexible mechanical drive system to rotatethe hub resulting in a change of position between the actuating arm andthe moving arm from a first position to a second position, receivesensor data from the linear actuator sensors to verify the moving arm isin the second position.

Example 17 may include example 16, wherein the processor is located atleast one of within the actuating arm, proximate to the actuating arm,and remote to the actuating arm.

Example 18 may include example 16, wherein the hub profile dimensionsare less than the largest dimensional profile measurement of the movingarm.

Example 19 may include example 16, wherein the linear actuator sensorsare located at least one of on and proximate to the hub.

Example 20 may include example 19, wherein the linear actuator sensorscomprise a rotary encoder.

Example 21 may include example 16, wherein one or more cables are passedthrough the hub.

Example 22 may include example 21, wherein the one or more cables are atleast one of power, hydraulic, pneumatic, and communications.

Example 23 may include example 16, wherein the at least two linearactuators are at least one of hydraulic, electric over hydraulic,pneumatic, mechanical, electro-mechanical, piezoelectric, electric, andlinear motor actuators.

Example 24 may include example 16, wherein one or more linear actuatorsensors comprise one or more of distance and position.

Example 25 may include example 16, wherein the flexible mechanical drivesystem comprises at least one of cogs, links, chains, and belts.

Example 26 may include example 25, wherein the cogs are machined orcast.

Example 27 may include example 25, wherein chain may be leaf, link, orroller.

Example 28 may include example 16, wherein the moving arm has a range ofmotion of 180° perpendicular to a central axis of the actuating arm.

Example 29 may include example 16, wherein data transfer is wired orwireless.

Example 30 may include a hub for a mechanical joint connecting anactuating arm to a moving arm, comprising: a body section including anoutside surface; a first and second side for attaching to the actuatingarm and the moving arm; and a slot extending through the body sectionconfigured to receive cables, the cables extending from the actuatingarm through the slot into the moving arm.

Example 31 may include the hub of example 30, wherein the slot forms afirst cable guide opening extending into the moving arm and a secondopening extending into the actuating arm.

Example 32 may include the hub of example 31, further including a linkconnector attaching to the body section, the link connector including apassage aligning with the first cable guide opening.

Example 33 may include the hub of example 30, wherein the outsidesurface of the body section is round and the slot forms a first openingthat extends at least 180 degrees around a first portion of the outsidesurface and forms a second cable guide opening that extends out from asecond portion of the outside surface.

Example 34 may include the hub of example 33, wherein the slot forms tworounded inside surfaces in the body section that extend from oppositesides of the first opening to opposite sides of the second cable guideopening.

Example 35 may include the hub of example 33, including a link connectorattaching the second portion of the outside surface and including apassage that aligns with the second cable guide opening.

Example 36 may include the hub of example 34, wherein the cable guideopening and the central passage each comprise multiple holes configuredto receive the cables.

Example 37 may include the hub of example 30, wherein the first andsecond side of the hub are rigidly attached to the moving arm androtatably attached to the actuating arm.

Example 38 may include the hub of example 37, wherein the actuating armincludes inner ears with holes for receiving and rotatably attaching thefirst and second side of the hub and the moving arm includes outer earsextending over the inner ears for rigidly attaching to the first andsecond side of the hub.

For the sake of convenience, the operations are described as variousinterconnected functional blocks or distinct software modules. This isnot necessary, however, and there may be cases where these functionalblocks or modules are equivalently aggregated into a single logicdevice, program or operation with unclear boundaries. In any event, thefunctional blocks and software modules or described features can beimplemented by themselves, or in combination with other operations ineither hardware or software.

It should be apparent that the modifications in arrangement and detailcan be made without departing from the principles of the embodimentsdisclosed in the specification. Claim is made to all modifications andvariation coming within the spirit and scope of the following claims.

The invention claimed is:
 1. A mechanical joint mounted between anactuating arm and a moving arm, comprising: a hub having a cable routingpassage configured to receive a cable passing through the hub from theactuating arm to the moving arm, the hub including a body sectionincluding an outside surface, a first and second side for attaching tothe actuating arm and the moving arm, and a slot extending through thebody section configured to receive the cable; one or more linearactuators connected to a flexible mechanical drive system wherein theflexible mechanical drive system includes first and second flexibledrive devices having first ends coupled to the one or more linearactuators and second ends configured to rotate the hub about its centralaxis resulting in a change of position between the actuating arm and themoving arm from a first position to a second position; and a linkconnector extending from the outside surface of the hub and attached onopposite sides to the second ends of the first and second flexible drivedevices, the link connector including a passage aligned over the slotand the cable extends from the actuating arm through the slot andthrough the passage in between the second ends of the first and secondflexible mechanical drive devices.
 2. The system of claim 1, furthercomprising a processor configured to: receive sensor data from a linearactuator sensor configured to determine the positions of the linearactuators, determine the first position of the moving arm with respectto the actuating arm, generate a moving arm control signal to actuatethe linear actuators connected to the flexible mechanical drive systemto rotate the hub to change the position between the actuating arm andthe moving arm from the first position to the second position, andreceive sensor data from the linear actuator sensor to verify the movingarm is in the second position.
 3. The system of claim 2, wherein theprocessor is located within the actuating arm.
 4. The system of claim 1,wherein the first and second flexible drive devices comprise two chainseach coupled at the first ends to different ones of the linear actuatorsand coupled at the second ends to the opposite sides of the linkconnector.
 5. The system of claim 4, wherein widths of the second endsof the two chains extend substantially over an entire width of theoutside surface of the hub.
 6. The system of claim 2, wherein the cableis at least one of power cable, hydraulic cable, pneumatic cable, orcommunications cable.
 7. The system of claim 2, wherein the linearactuators are at least one of hydraulic, electric over hydraulic,pneumatic, mechanical, electro-mechanical, piezoelectric, electric, andlinear motor actuators.
 8. The system of claim 2, wherein the linearactuator sensor is configured to identify a distance of movement of themoving arm and a position of the moving arm.
 9. The system of claim 2,wherein the flexible mechanical drive system comprises at least one ofcogs, links, chains, or belts.
 10. The system of claim 9, wherein thechains comprise leaf chains, link chains, or roller chains.
 11. Thesystem of claim 1, wherein the slot in the hub extends around an outsideperimeter of the hub over 180 degrees to enable the moving arm to movein a 180 degree range perpendicular to a central axis of the actuatingarm.
 12. The system of claim 2, including a wireless transmitter coupledto the processor configured to wirelessly transmit the sensor data to acontroller outside of the actuating arm and the moving arm.
 13. Thesystem of claim 2, including a wireless transmitter coupled to thelinear actuators configured to wirelessly transmit the sensor data tothe processor.
 14. An apparatus for operation and control of amechanical joint having a hub, moving arm, an actuating arm, and linearactuators, comprising: a processing unit; a memory device coupled to theprocessing unit, the memory device having instructions stored thereonthat, in response to execution by the processing unit, are operable to:receive sensor data from a position sensor located proximate to thelinear actuators, determine a first position of the moving arm inrelation to the actuating arm, generate a moving arm control signal toactuate the linear actuators, wherein the linear actuators are connectedto associated flexible drive devices that rotate the hub and move themoving arm from the first position in relation to the actuating arm to asecond position in relation to the actuating arm; and receive sensordata from the position sensor to verify the moving arm is in the secondposition, wherein: a cable routing passage extends through the hub fromthe actuating arm to the moving arm, a link connector extends from thehub, a first end of a first one of the flexible drive devices attachesto a first side of the link connector, a second end of a second one ofthe flexible drive devices attaches to a second side of the linkconnector, the link connector includes an opening aligned over the cablerouting passage, and a cable extends from the actuating arm through theopening and through the cable routing passage in between the first endof the first one of the flexible drive devices and the second end of thesecond one of the flexible drive devices.
 15. The apparatus of claim 14,wherein the hub includes: a body section including an outside surface,and a first and second side for attaching to the actuating arm and themoving arm, wherein a width of the first and second one of the flexibledrive devices extends over substantially an entire width of the bodysection between the first and second side.
 16. The apparatus of claim14, wherein the hub has a cross-sectional dimension no greater than alargest cross-sectional dimension of the moving arm.
 17. The apparatusof claim 15, wherein: the outside surface of the body section of the hubis round and the cable routing passage forms a first opening thatextends at least 180 degrees around a first portion of the outsidesurface and forms a second cable guide opening that extends out from asecond portion of the outside surface; and the cable routing passageforms two rounded inside surfaces in the body section that extend fromopposite sides of the first opening to opposite sides of the secondcable guide opening.
 18. The apparatus of claim 14, wherein the positionsensor comprises a rotary encoder.
 19. The apparatus of claim 14,wherein the cable routing passage includes a central channel thatextends from the actuating arm to the moving arm configured to receivethe cable.
 20. The apparatus of claim 19, wherein the central channelextends around a perimeter of the hub over 180 degrees from theactuating arm to the moving arm.
 21. The apparatus of claim 19, whereinthe cable includes at least one of power, hydraulic, pneumatic, orcommunications cable.
 22. The apparatus of claim 14, wherein the linearactuators comprise a hydraulic, electric over hydraulic, pneumatic,mechanical, electro-mechanical, piezoelectric, electric, or linear motoractuators.
 23. The apparatus of claim 14, wherein the first and secondone of the flexible drive devices each comprise at least one of a leafchain, link chain, or roller chain.
 24. The apparatus of claim 14,including a wireless receiver connected to the processing unitconfigured to wirelessly receive the sensor data from the positionsensor.
 25. The apparatus of claim 14, including a wireless transmitterconnected to the processing unit configured to wirelessly transmit thesensor data to a controller outside of the actuating arm and the movingarm.